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A sensor system for the navigation of an underwater vehicle

Abstract:

A sensor system for an underwater vehicle is described. The vehicle is equipped with inclinometers, gyroscopes, a magnetometer, a pressure gauge, and a sonar system. The sensor models used for the inclinometers and gyroscopes are straightforward; however, the magnetometer can be corrupted by variations in the earth's field caused by: external objects and internal magnetic fields. We show how to use inclinometer data to adjust for a limited set of external field variation. We also show how to ...

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Publication status:
Published

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Publisher copy:
10.1177/02783649922066510

Authors


Probert, P More by this author
Publisher:
Sage Sci Press
Journal:
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
Volume:
18
Issue:
7
Pages:
697-710
Publication date:
1999-07-05
DOI:
ISSN:
0278-3649
URN:
uuid:4aea5a92-60ca-41c6-a203-d330fc78edc3
Source identifiers:
383638
Local pid:
pubs:383638
Language:
English

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